官网教程:http://gazebosim.org/tutorials?tut=plugins_model&cat=write_plugin
系列二主要关注点在于modelPlugin
在模型中插入plugin是能够控制模型的运行,模型的性质的体现。给一些元素在特性,比如速度等。
官方的例程:
model_push.cc文件
#include <functional>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
#include <ignition/math/Vector3.hh>
namespace gazebo
{
class ModelPush : public ModelPlugin
{
public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
{
// Store the pointer to the model
this->model = _parent;
// Listen to the update event. This event is broadcast every
// simulation iteration.
this->updateConnection = event::Events::ConnectWorldUpdateBegin(
std::bind(&ModelPush::OnUpdate, this));
}